Iterations

Specifies the number of the iterations of the combined refinement. In each iteration two steps are performed consecutively:

• the part pose is rotated and translated in the image plane to align object boundaries with the 2D and 3D edges of the input data

• the part orientation and distance along its viewing direction is adjusted to match the underlying depth data

Both optimization steps in each iteration optimize independent directions/parameters of the part pose and integrate 2D and 3D data into the refinement process.

Note

Due to some current limitations of the 2D alignment the resulting part poses will be slightly less accurate compared to pure 3D refinement.

Format

Number	Limits the number of iterations for combined refinement.
Number	The special value 0 indicates that the combined refinement is disabled.

Default

2